ROS(014: Wrinting a Simple Service and Client (C++))

$ roscd beginner_tutorials
$ cd src

$ vi add_two_ints_server.cpp

add content:

#include "ros/ros.h"
#include "beginner_tutorials/AddTwoInts.h"

bool add(beginner_tutorials::AddTwoInts::Request &req,
         beginner_tutorials::AddTwoInts::Response &res)
{
    res.sum = req.a + req.b;
    ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);
    ROS_INFO("sending back ressponse: [%ld]", (long int)res.sum);
    return true;
}

int main(int argc, char **argv)
{
    ros::int(argc, argv, "add_two_ints_server");
    ros::NodeHandle n;

    ros::ServiceServer service = n.advertiseService("add_two_ints", add);
    ROS_INFO("Ready to add two ints.");
    ros::spin();

    return 0;
}

#include "ros/ros.h"

#include "beginner_tutorials/AddTwoInts.h"

bool add(beginner_tutorials::AddTwoInts::Request &req,

beginner_tutorials::AddTwoInts::Response &res)

{

res.sum = req.a + req.b;

ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);

ROS_INFO("sending back ressponse: [%ld]", (long int)res.sum);

return true;

}

int main(int argc, char **argv)

{

ros::int(argc, argv, "add_two_ints_server");

ros::NodeHandle n;

ros::ServiceServer service = n.advertiseService("add_two_ints", add);

ROS_INFO("Ready to add two ints.");

ros::spin();

return 0;

}

$ vi add_two_ints_client.cpp

add content:

#include "ros/ros.h"
#include "beginner_tutorials/AddTwoInts.h"
#include <cstdlib>

int main(int argc, char **argv)
{
    ros::init(argc, argv, "add_two_ints_client");
    if(argc != 3)
    {
        ROS_INFO("usage: add_two_ints_client X Y");
        return 1;
    }

    ros::NodeHandle n;
    ros::ServiceClient client = n.serviceClient<beginner_tutorials::AddTwoInts>("add_two_ints");
    beginner_tutorials::AddTwoInts srv;
    srv.request.a = atoll(argv[1]);
    srv.request.b = atoll(argv[2]);
    if(client.call(srv))
    {
        ROS_INFO("Sum: %ld", (long int)srv.response.sum);
    }
    else
    {
        ROS_ERROR("Failed to call service add_two_ints");
        return 1;
    }

    return 0;
}

#include "ros/ros.h"

#include "beginner_tutorials/AddTwoInts.h"

#include <cstdlib>

int main(int argc, char **argv)

{

ros::init(argc, argv, "add_two_ints_client");

if(argc != 3)

{

ROS_INFO("usage: add_two_ints_client X Y");

return 1;

}

ros::NodeHandle n;

ros::ServiceClient client = n.serviceClient<beginner_tutorials::AddTwoInts>("add_two_ints");

beginner_tutorials::AddTwoInts srv;

srv.request.a = atoll(argv[1]);

srv.request.b = atoll(argv[2]);

if(client.call(srv))

{

ROS_INFO("Sum: %ld", (long int)srv.response.sum);

}

else

{

ROS_ERROR("Failed to call service add_two_ints");

return 1;

}

return 0;

}

$ vi ~/catkin_ws/src/beginner_tutorials/CMakeLists.txt

add following content to the end:

add_executable(add_two_ints_server src/add_two_ints_server.cpp)
target_link_libraries(add_two_ints_server ${catkin_LIBRARIES})
add_dependencies(add_two_ints_server beginner_tutorials_gencpp)

add_executable(add_two_ints_client src/add_two_ints_client.cpp)
target_link_libraries(add_two_ints_client ${catkin_LIBRARIES})
add_dependencies(add_two_ints_client beginner_tutorials_gencpp)

add_executable(add_two_ints_server src/add_two_ints_server.cpp)

target_link_libraries(add_two_ints_server ${catkin_LIBRARIES})

add_dependencies(add_two_ints_server beginner_tutorials_gencpp)

add_executable(add_two_ints_client src/add_two_ints_client.cpp)

target_link_libraries(add_two_ints_client ${catkin_LIBRARIES})

add_dependencies(add_two_ints_client beginner_tutorials_gencpp)

$ cd ~/catkin_ws

$ catkin_make

Ref:

http://wiki.ros.org/ROS/Tutorials/WritingServiceClient%28c%2B%2B%29

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